Performance Comparisons of Different Observer-Based Force-Sensorless Approaches for Impedance Control of Collaborative Robot Manipulators

Shih Hsuan Chien, Jyun Hsiang Wang, Ming Yang Cheng

研究成果: Conference contribution

2 引文 斯高帕斯(Scopus)

摘要

Human robot interaction is commonly seen in the application of collaborative robots. In order to ensure the safety of the human operator, most existing approaches exploit the idea of compliance control in the design of suitable controllers. In particular, force sensors are often used to estimate the contact force that is essential in the design of the compliance control scheme. However, force sensor-based approaches are not cost-effective. In order to cope with this problem so as to facilitate the implementation of compliance control, this paper aims to compare various observer-based force-sensorless approaches for implementing impedance control of collaborative robot manipulators. Different observer-based approaches, such as the generalized momentum approach, the extended state observer, the modified extended state observer, and the closed-loop disturbance observer are used in this paper to estimate the contact force. Several impedance control experiments conducted on a 6-DOF robot manipulator are used to assess the performances of the aforementioned observer-based approaches. Experimental results indicate that the modified extended state observer exhibits the best performance on contact force estimation among all the tested observer-based approaches.

原文English
主出版物標題Proceedings - 2020 IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020
發行者Institute of Electrical and Electronics Engineers Inc.
頁面326-331
頁數6
ISBN(電子)9781728163895
DOIs
出版狀態Published - 2020 六月 10
事件3rd IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020 - Virtual, Tampere, Finland
持續時間: 2020 六月 102020 六月 12

出版系列

名字Proceedings - 2020 IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020

Conference

Conference3rd IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020
國家/地區Finland
城市Virtual, Tampere
期間20-06-1020-06-12

All Science Journal Classification (ASJC) codes

  • 人工智慧
  • 電腦科學應用
  • 硬體和架構
  • 資訊系統與管理
  • 控制與系統工程
  • 工業與製造工程
  • 安全、風險、可靠性和品質

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